Automatic working system, self-moving apparatus and control method thereof

Abstract

Embodiments of the present invention relates to a self-moving device, moving and working in a working region, and including: a housing; a movement module, mounted at the housing, and driven by a drive motor to enable the self-moving device to move; a control module, controlling movement and working of the self-moving device; and a detection unit, electrically connected to the control module, and detecting a movement and/or status parameter of the self-moving device, where when the detection unit detects that the movement and/or status parameter of the self-moving device satisfies a preset condition, the control module alternately decreases and increases an acceleration of the movement of the self-moving device, so as to keep a speed of the movement of the self-moving device in a preset range.

What is claimed is: 
     
       1. An automatic lawn mower, moving and working in a working region defined by a border, and comprising:
 a housing; 
 a movement module, mounted at the housing, and driven by a drive motor to enable the automatic lawn mower to move; 
 a control module, controlling movement and working of the automatic lawn mower; and 
 a detection unit, electrically connected to the control module, and detecting one or more movement or status parameters of the automatic lawn mower, 
 wherein when the detection unit detects that the one or more movement or status parameters of the automatic lawn mower satisfies a preset condition, the control module alternately decreases and increases an acceleration of the movement of the automatic lawn mower, so as to keep a speed of the movement of the automatic lawn mower in a preset range that is less than or equal to a preset speed value that allows the automatic lawn mower to respond to a border detection and prevent moving beyond the border, 
 wherein a first one of the movement or status parameters of the automatic lawn mower is the acceleration of the movement of the automatic lawn mower, and 
 wherein the associated preset condition is that the acceleration of the movement of the automatic lawn mower is greater than or equal to a first threshold. 
 
     
     
       2. The automatic lawn mower according to  claim 1 , wherein a second one of the movement or status parameters of the automatic lawn mower is the speed of the automatic lawn mower, and the associated preset condition is that the speed of the automatic lawn mower is greater than or equal to a second threshold. 
     
     
       3. The automatic lawn mower according to  claim 1 , wherein the detection unit comprises at least one of an accelerometer, a tachometer, an inclinometer, and a gyroscope. 
     
     
       4. The automatic lawn mower according to  claim 1 , wherein the control module alternately decreases and increases a working current of the drive motor to alternately decrease and increase the acceleration of the movement of the automatic lawn mower. 
     
     
       5. The automatic lawn mower according to  claim 4 , wherein that the control module alternately reduces and increases a working current of the drive motor comprises alternately switching off and on the working current of the drive motor. 
     
     
       6. An automatic working system, comprising the automatic lawn mower according to  claim 1 . 
     
     
       7. The automatic lawn mower according to  claim 1 , wherein a second one of the movement or status parameters of the automatic lawn mower is a downward tilt angle of the automatic lawn mower, and the associated preset condition is that the downward tilt angle of the automatic lawn mower is greater than or equal to a preset angle value. 
     
     
       8. A control method of an automatic lawn mower, the automatic lawn mower moving and working in a working region defined by a border, and the automatic lawn mower comprising a movement module, driven by a drive motor to enable the automatic lawn mower to move, wherein the control method of the automatic lawn mower comprises the following steps:
 detecting one or more movement or status parameters of the automatic lawn mower; 
 determining whether the one or more movement or status parameters of the automatic lawn mower satisfies a preset condition; and 
 when the preset condition is satisfied, alternately decreasing and increasing an acceleration of the movement of the automatic lawn mower, so as to keep a speed of the movement of the automatic lawn mower in a preset range that is less than or equal to a preset speed value that allows the automatic lawn mower to respond to a border detection and prevent moving beyond the border, 
 wherein a first one of the movement or status parameters of the automatic lawn mower is a downward tilt angle of the automatic lawn mower, and 
 wherein the associated preset condition is that the downward tilt angle of the automatic lawn mower is greater than or equal to a preset angle value. 
 
     
     
       9. The control method according to  claim 8 , wherein a second one of the movement or status parameters of the automatic lawn mower is the speed of the movement of the automatic lawn mower; and
 wherein the determining whether the movement or status parameter of the automatic lawn mower satisfies a preset condition comprises:
 determining whether the speed of the movement of the automatic lawn mower is greater than or equal to a first threshold. 
 
 
     
     
       10. The control method according to  claim 8 , wherein a working current of the drive motor is alternately decreased and increased to alternately decrease and increase the acceleration of the movement of the automatic lawn mower. 
     
     
       11. The control method according to  claim 10 , wherein the alternately decreasing and increasing the working current of the drive motor comprises alternately switching off and on the working current of the drive motor. 
     
     
       12. The control method according to  claim 8 , wherein the step of alternately decreasing and increasing an acceleration of the movement of the automatic lawn mower comprises:
 determining whether the speed or acceleration of the movement of the automatic lawn mower is less than or equal to a second threshold, and if the speed or acceleration is less than or equal to the second threshold, increasing the acceleration of the movement of the automatic lawn mower, 
 wherein the second threshold is less than the first threshold. 
 
     
     
       13. The control method according to  claim 8 , wherein a second one of the movement or status parameters of the automatic lawn mower is the acceleration of the movement of the automatic lawn mower; and
 wherein the determining whether the movement or status parameter of the automatic lawn mower satisfies a preset condition comprises:
 determining whether the acceleration of the movement of the automatic lawn mower is greater than or equal to a first threshold. 
 
 
     
     
       14. An automatic lawn mower, moving and working in a working region defined by a border, the automatic lawn mower comprising:
 a housing; 
 a movement module, mounted at the housing, and driven by a drive motor to enable the automatic lawn mower to move; 
 a control module, controlling movement and working of the automatic lawn mower; and 
 a detection unit, electrically connected to the control module, and detecting a movement or status parameter of the automatic lawn mower, 
 wherein when the detection unit detects that the movement or status parameter of the automatic lawn mower satisfies a preset condition, the control module controls the automatic lawn mower to intermittently brake so as to keep a speed of the movement of the automatic lawn mower in a preset range that is less than or equal to a preset speed value that allows the automatic lawn mower to respond to a border detection and prevent moving beyond the border, 
 wherein the movement or status parameter of the automatic lawn mower comprises at least one of:
 the acceleration of the movement of the automatic lawn mower, 
 wherein the associated preset condition is that the acceleration of the movement of the automatic lawn mower is greater than or equal to a first threshold; or 
 a downward tilt angle of the automatic lawn mower, 
 wherein the associated preset condition is that the downward tilt angle of the automatic lawn mower is greater than or equal to a preset angle value. 
 
 
     
     
       15. The automatic lawn mower of  claim 14 , wherein the automatic lawn mower intermittently braking is by removing current from the drive motor. 
     
     
       16. A control method of an automatic lawn mower, the automatic lawn mower moving and working in a working region defined by a border, and the automatic lawn mower comprising a movement module, driven by a drive motor to enable the automatic lawn mower to move, wherein the control method of the automatic lawn mower comprises the following steps:
 detecting a movement or status parameter of the automatic lawn mower; 
 determining whether the movement or status parameter of the automatic lawn mower satisfies a preset condition; and 
 when the preset condition is satisfied, controlling the automatic lawn mower to intermittently brake so as to keep a speed of the movement of the automatic lawn mower in a preset range that is less than or equal to a preset speed value that allows the automatic lawn mower to respond to a border detection and prevent moving beyond the border, 
 wherein the movement or status parameter of the automatic lawn mower comprises at least one of:
 the acceleration of the movement of the automatic lawn mower, 
 wherein the associated preset condition is that the acceleration of the movement of the automatic lawn mower is greater than or equal to a first threshold; or 
 a downward tilt angle of the automatic lawn mower, 
 wherein the associated preset condition is that the downward tilt angle of the automatic lawn mower is greater than or equal to a preset angle value.